14.31 Structure Tab
If the current position of the robot TCP comes close to a safety or trigger plane, or the orientation
of robot tool is near the tool orientation boundary limit (see 10.12), a 3D representation of
the boundary limit is shown.
Note: when the robot is running a program, the visualization of boundary limits will be dis-
abled.
Safety planes are visualized in yellow and black with a small arrow representing the plane nor-
mal, which indicates the side of the plane on which the robot TCP is allowed to be positioned.
Trigger planes are displayed in blue and green and a small arrow pointing to the side of the
plane, where the Normal mode limits (see 10.6) are active. The tool orientation boundary
limit is visualized with a spherical cone together with a vector indicating the current orienta-
tion of the robot tool. The inside of the cone represents the allowed area for the tool orientation
(vector).
When the target robot TCP no longer is in the proximity of the limit, the 3D representation dis-
appears. If the TCP is in violation or very close to violating a boundary limit, the visualization
of the limit turns red.
The 3D view can be zoomed and rotated to get a better view of the robot arm. The buttons in
the top-right side of the screen can disable the various graphical components in 3D view. The
bottom button switches on/off the visualization of proximate boundary limits. The motion
segments shown depend on the selected program node. If a Move node is selected, the displayed
path is the motion defined by that move. If a Waypoint node is selected, the display shows the
following ∼ 10 steps of movement.
14.31 Structure Tab
The program structure tab gives an opportunity for inserting, moving, copying and removing
the various types of commands.
e-Series II-102 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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